Kinodynamic Motion Planning for Multi-Legged Robot Jumping via Mixed-Integer Convex Program
Yanran Ding,Chuanzheng Li,Hae-Won Park,Yanran Ding,Chuanzheng Li,Hae-Won Park
This paper proposes a kinodynamic motion plan-ning framework for multi-legged robot jumping based on the mixed-integer convex program (MICP), which simultaneously reasons about centroidal motion, contact points, wrench, and gait sequences. This method uniquely combines configuration space discretization and the construction of feasible wrench polytope (FWP) to encode kinematic constraints, actuato...
